International Journal of Information & Computation Technology.

ISSN 0974-2239 Volume 4, Number 12 (2014), pp. 1185-1193

International Research Publications House
http://www. irphouse.com

Speed Control of 3-Phase Induction Motor Using SelfTuning Fuzzy PID Controller and Conventional PID
Controller
Kamini Devi1, Shailendra Gautam2, Deepak Nagaria3
1

M.Tech (Control System), Electrical Engineering, N.I.T.M. College,

Gwalior (M.P), INDIA
2
M.Tech (Power Electronics), Electrical Engineering, T.I.T. College,
Bhopal (M.P), INDIA
3
Reader and Head Electrical Engineering B.I.E.T., Jhansi (U.P.), INDIA

ABSTRACT
This paper presents a rule-based fuzzy logic controller applied to a scalar
closed loop Volts/Hz induction motor (IM) control with slip regulation and its
simulation results. They are also compared with those of a PID controller. The
IM is model in terms of d-q windings, with synchronous frame associated with
the frequency s of the stator excitation. The results obtained in the simulation
are interesting, considering the presence of strong non-linearity in the IM
model. A fuzzy logic control for a speed control of Induction motor the
simulation developed by using Fuzzy MATLAB Toolbox and SIMULINK.
The fuzzy logic controller is also introduced to the system for keeping the
motor speed to be constant when the load varies. This is the low maintenance
and robustness induction motors have many applications in the industries.
Keywords: Fuzzy Logic Controller, Induction Motor, V/F Speed Control, PID
Controller, MATLAB Simulink.
Introduction
The Fuzzy Logic Toolbox draws upon these capabilities to provide a powerful tool for
fuzzy system design, analysis, and simulation. This technical brief describes the use
of the Fuzzy Logic Toolbox to solve a typical control design problem. It can also add
control where it was previously impractical, as applications such as fuzzy-controlled
washing machines have shown. However, fuzzy control need not be a dramatic
departure from conventional control techniques such as proportional integral

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Kamini Devi, Shailendra Gautam, Deepak Nagaria

derivative (PID) feedback systems This paper will focus only on FLC techniques and
the comparison with the classical PID controller. [1, 2]

Fig1: basic block diagram of speed control of induction motor using FLC

Fuzzy Logic Controller:

MATLAB Fuzzy logic Toolbox is use to design fuzzy logic controller. Basically, the
Fuzzy Logic controller consists of four basic components: fuzzification, a knowledge
base, inference engine, and a defuzzification interface.The addition of fuzziness to
data in fuzzy logic is called the fuzzification .fuzzy linguistic description are formal
representation of system made through fuzzy IF-THEN rules. They encoded
knowledge about a system in statements of the form- IF (a set of conditions) are
satisfied then (a set of consequents) can be inferred. The conversion of a fuzzy set to
single crisp value is called defuzzification. [3, 4]
In Mamdani type FIS the crisp result is obtained by defuzzification, in the
Mamdani FIS can be used for both multiple inputs and single output and multiple
inputs multiple outputs system [5].

Fig.2. Basic configuration of fuzzy logic controller

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Speed Control of 3-Phase Induction Motor

PID Controller:
PID controllers are composed of three basic control modes i.e. proportional mode
integral mode and derivative mode. They are simple to implement and provide good
performance. A PID controller does not "know" the correct output to bring the system
to the set point. It moves the output in the direction which should move the process
toward the set point and needs to have feedback to perform [8].
The PID controller has the following form in the time domain:
( )
( )=
( )+ ( ) +
(1)
Table1: Basic control action [8]
Proportional control
Integral control
Derivative control

( )=
( )=
( )=

( )
( )
( )

V/F control
The base speed of the induction motor is directly proportional to the supply frequency
and the number of poles of the motor. Since the number of poles is fixed by design,
the best way to vary the speed of the induction motor is by varying the supply
frequency. The torque developed by the induction motor is directly proportional to the
ratio of the applied voltage and the frequency of supply. By varying the voltage and
the frequency, but keeping their ratio constant, the torque developed can be kept
constant throughout the speed range. Figure 3 shows the typical torque-speed
characteristics of the induction motor, supplied directly from the main supply. Figure
4 shows the torque-speed characteristics of the induction motor with V/F control [7]
=
=
=
(2)
Where:

= applied voltage,

= supply frequency,

= counter e.m.f

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Kamini Devi, Shailendra Gautam, Deepak Nagaria

Fig.3. Torque-speed characteristics of induction motor [7]

Fig.4. torque-speed characteristics of induction motor VF control [7]

Induction Motor Dynamic Model

The induction motor is modelled with Matlab/Simulink program running under three
phase sinusoidal symmetrical excitation and is at vectorized form in conformity with

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Speed Control of 3-Phase Induction Motor

state vector formulation. Synchronous frame is used where [1]
= and theta k = , and where:
= base frequency. (Rad/sec)
= rotor frame frequency. (Rad/sec)
= dq frame frequency. (Rad/sec)
= synchronous frame frequency. (Rad/sec)
=stator flux, =rotor flux (pu)
, R =stator and rotor resistance (pu)
,
=stator and rotor voltage (pu)
i , =stator and rotor current (pu)
L , L = stator and rotor inductance (pu)
L = magnetizing inductance (pu)
L = stator leakage inductance (pu)
L = rotor leakage inductance (pu)
T = electromagnetic torque (pu)
TL = load torque (pu)
B = viscous friction coefficient. (pu)
d, q=direct and quadrature axis
p=number of poles
H= inertia constant (s)
Operators: =cross product; =dot product
Flux linkage- current relation
On d axis:
=L i +L i
=L i +L i
Where
L =L +L
L =L +L
On q axis:
=L i +L i
=L i +L i

, =

+(
,

(5)
(6)
(7)
(8)

Electrical system Equation

=
+
+
=

(3)
(4)

Mechanical system Equations

=2
+
+
=
=

(9)

0 1
1 0

(10)
(11)

(12)
(13)

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Kamini Devi, Shailendra Gautam, Deepak Nagaria

=

(14)

Simulation Result
The response of the controller will be investigated with the Matlab/Simulink
simulation program, the Fuzzy logic, and SimPower Systems toolbox. [1]
6.1 implementation of speed control of induction motor using fuzzy logic controller

Fig.5.Circuit diagram of speed control of induction motor using FLC in Simulink

Speed Control of 3-Phase Induction Motor

6.1.1 Result of Speed, Torque and Current Characteristics of Induction Motor

1191

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Kamini Devi, Shailendra Gautam, Deepak Nagaria

Conclusion
This paper shows that the result of fuzzy logic controller PID shows better output as
compared to conventional PID. This paper shows that both simulation and
experimental results confirmed that the fuzzy logic approach is feasible and can be an
interesting alternative to conventional control, even when the system model is known
and linear.
References
[1]

A fonso, J.L., Fonseca, J., Martins, J.S., Couto, C.A., Fuzzy logic techniques
applied to the control of a three-phase induction motor, Industrial Electronics,
ISIE '97, Proceedings of the IEEE International Symposium on, 3, Guimaraes,
Portugal, 1179-1184, (1997).
[2] Bose Bimal K., Modern Power Electronics and AC Drives, Prentice Hall
PTR, Upper Saddle River, (2002).
[3] Mohd Shahrieel Mohd Aras, Eric Chee Sai Hoo, Mohd Hendra bin Hairi, Syed
Najib Bin Syed Salim, Intan Azmira binti Wan Abd Razak, Comparison of

Speed Control of 3-Phase Induction Motor

[4]
[5]

[6]

[7]
[8]
[9]

1193

Fuzzy Control Rules using MATLAB Toolbox and Simulink for DC Induction
Motor-Speed Control, 2009 International Conference of Soft Computing and
Pattern Recognition.
S. Rajasekaran, G.A. Vijaylakshmi PaiNeural Networks, fuzzy logic, and
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Economy Edition,(2005)
Trapti Yadav, Deepti yadav, Nidhi SinghSelf Tuning PID Controller using
Fuzzy Inference Mamdani and Sugeno method on the AVR System.
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ISBN: 978-93-81583-72-2
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